CN103732173A - Surgical implement and medical treatment manipulator - Google Patents

Surgical implement and medical treatment manipulator Download PDF

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Publication number
CN103732173A
CN103732173A CN 201280037095 CN201280037095A CN103732173A CN 103732173 A CN103732173 A CN 103732173A CN 201280037095 CN201280037095 CN 201280037095 CN 201280037095 A CN201280037095 A CN 201280037095A CN 103732173 A CN103732173 A CN 103732173A
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portion
member
treatment
operation
surgical instrument
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CN 201280037095
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Chinese (zh)
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CN103732173B (en
Inventor
兵头亮治
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奥林巴斯株式会社
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Priority to US201161515203P priority Critical
Priority to US61/515,203 priority
Application filed by 奥林巴斯株式会社 filed Critical 奥林巴斯株式会社
Priority to PCT/JP2012/069868 priority patent/WO2013018897A1/en
Publication of CN103732173A publication Critical patent/CN103732173A/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • A61B17/320016Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A61B17/32002Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes with continuously rotating, oscillating or reciprocating cutting instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14Probes or electrodes therefor
    • A61B18/1402Probes for open surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00Surgical drapes
    • A61B46/10Surgical drapes specially adapted for instruments, e.g. microscopes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/02Hand grip control means
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017Electrical control of surgical instruments
    • A61B2017/00115Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00473Distal part, e.g. tip or head
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477Coupling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477Coupling
    • A61B2017/00482Coupling with a code
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2926Details of heads or jaws
    • A61B2017/2931Details of heads or jaws with releasable head
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2946Locking means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/305Details of wrist mechanisms at distal ends of robotic arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00Surgical drapes
    • A61B46/20Surgical drapes specially adapted for patients
    • A61B46/23Surgical drapes specially adapted for patients with means to retain or hold surgical implements
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/02Arm motion controller
    • Y10S901/06Communication with another machine
    • Y10S901/08Robot
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/02Arm motion controller
    • Y10S901/09Closed loop, sensor feedback controls arm movement
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/30End effector
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00Metal working
    • Y10T29/49Method of mechanical manufacture
    • Y10T29/49826Assembling or joining
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10TTECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00Machine element or mechanism
    • Y10T74/18Mechanical movements
    • Y10T74/18056Rotary to or from reciprocating or oscillating

Abstract

This surgical implement (1) is a surgical implement (1) that performs treatment on treatment target sites and is provided with: a long tubular member (2) with a moderately long shaft; a treatment unit (6) connected to the long member (2); and a connector (10) that detachably connects the long member (2) to the treatment unit (6). The connector (10) comprises a first rotation shaft (13) that is fixed to the long member (2) and can be connected to the treatment unit (6), and a locking unit (16) that locks the first rotation shaft (13) and the treatment unit (6).

Description

手术器具和医疗用机械手 Surgical instruments and medical manipulator

技术领域 FIELD

[0001 ] 本发明涉及手术器具和医疗用机械手。 [0001] The present invention relates to surgical instruments and medical manipulator.

[0002] 本申请根据在2011年8月4日在美国申请的美国专利申请第61/515203号主张优先权,在本文中引用其内容。 [0002] The present application No. 61/515203, filed in the United States according to US patent application August 4, 2011 application, incorporated by reference herein in this article.

背景技术 Background technique

[0003] 以往,作为医疗用机械手,主从式的医疗用机械手是公知的,主从式的医疗用机械手具有:由操作者操作的主机械手、和根据从主机械手发出的信号进行动作的从机械手。 [0003] Conventionally, as a medical manipulator, a master-slave type medical manipulator are well-known, the master having the formula a medical manipulator: the main robot operated by an operator of, and according to a signal sent from the master robot operation from manipulator. 在这样的医疗用机械手上安装有手术器具,该手术器具具有用于通过远程操作对处置对象部位进行处置的处置部。 In such a medical robotic arm mounting surgical instrument, the surgical instrument having a treatment portion for disposal of the treatment site through a remote operation. [0004] 例如在专利文献I中,公开了可使用适合于处置的多个处置部来替代一个从机械手的臂的医疗用机械手。 [0004] Patent Document I, for example, discloses a can be replaced with a robot arm from a medical robot using a plurality of treatment portion adapted for disposal.

[0005] 现有技术文献 [0005] The prior art documents

[0006] 专利文献 [0006] Patent Document

[0007] 专利文献1:日本特开2001 - 277157号公报发明内容 [0007] Patent Document 1: Japanese Patent Application Laid-Open 2001-- No. 277,157 DISCLOSURE OF THE INVENTION

[0008] 发明要解决的问题 [0008] Problems to be solved

[0009] 一般,为了不引起感染性疾病等,在每次手术时对医疗用机械手进行清洗和杀菌。 [0009] In general, in order not to cause infectious diseases, cleaning and sterilizing medical manipulator at each operation.

[0010] 在专利文献I记载的医疗用机械手中,由于处置部可相对于从机械手拆装,因而容易进行清洗和杀菌等维护。 [0010] Patent Document I describes the medical use of the robot, since the treatment portion may be detachable with respect to the manipulator, which can easily be cleaned and maintenance sterilization. 然而,为了实现处置部可拆装的结构,部件数量变多,因而专利文献I记载的医疗用机械手,其处置部的结构复杂,清洗性还不一定提高。 However, to achieve the treatment portion detachable structure, the number of components increases, and thus I described in Patent Document medical manipulator, a treatment portion of its complex structure, not necessarily improved washability.

[0011] 本发明的目的是提供能够以简单的结构拆装处置部、且清洗性高的手术器具和医疗用机械手。 [0011] The object of the present invention is to provide a simple structure detachable treatment portion, and a high cleaning surgical instruments and medical manipulator.

[0012] 用于解决问题的手段 [0012] Solution to Problem

[0013] 本发明的一个方式是一种手术器具,所述手术器具对处置对象部位进行处置,其特征在于,所述手术器具具有:筒状的长形部件,其具有长度轴;处置部,其与所述长形部件连结;以及连结部,其将所述长形部件和所述处置部可拆装地连结,所述连结部具有••第一转动轴部,其设置在所述长形部件上;第二转动轴部,其设置在所述处置部上;第一滚动引导部,其设置在所述长形部件上并配备有在与所述第一转动轴部同轴上具有中心的圆弧状部;第二滚动引导部,其具有滚动引导部,所述滚动引导部设置在所述处置部上并配备有在与所述第二转动轴部同轴上具有中心的圆弧状部,该滚动引导部与所述第一滚动引导部滚动接触;以及卡定部,其使所述第一转动轴部和第二转动轴部处于卡定状态,所述连结部在所述第一转动轴部和所述第二转动轴 [0013] An embodiment of the present invention is a surgical instrument, the surgical instrument to the treatment site for disposal, wherein said surgical instrument comprising: an elongated tubular member having a longitudinal axis; treatment portion, which is connected to the elongated member; and a connecting portion, which the elongate member and the treatment portion detachably connected to said connecting portion having a rotation shaft •• a first portion, which is provided in the long the shaped member; a second rotary shaft portion, which is provided on the treatment portion; a first roller guide portion which is provided on the elongate member and having a shaft provided with a coaxial with the first rotating portion the arcuate center portion; a second roller guide portion, the guide having a rolling portion, the rolling circle having a center coaxial with the shaft portion in said second guide portion is provided rotatably on the treatment part and equipped with arcuate portion, the roller guide portion of the first roller guide rolling contact portion; and a locking portion, which the first rotating shaft portion and the second rotational shaft portion in a locked state, the coupling portion of the said first portion and said second pivot shaft rotation axis 之间被拆装。 Between the disassembly.

[0014] 并且,也可以是,所述卡定部具有:主体部,其与所述第一转动轴部连接,并且能够与所述第二转动轴部卡合;环状部件,其与所述主体部分体设置,将所述主体部和所述第二转动轴部捆扎;以及锁定部件,其用于切换所述环状部件被配置在将所述主体部和所述第二转动轴部捆扎的位置的捆扎状态、和所述环状部件被配置在从将所述主体部和所述第二转动轴部捆扎的位置偏离的位置的开放状态。 [0014] and, may be, the locking portion includes: a main body portion, which is connected to the first rotary shaft portion, and is capable of rotation with said second engaging shaft portion; annular member, with the said main body portion is provided, the main body portion and said second rotary shaft bundling portion; and a locking means for switching said annular member which is disposed in the main body portion and said second rotating shaft portion bundling a state the bundling position, and the annular member disposed in an open state is deviated from the main body portion and said second rotary shaft portion of the bundled position.

[0015] 并且,也可以是,所述主体部具有槽,所述槽与所述环状部件卡合,规定所述环状部件的移动方向,所述锁定部件具有所述槽的一部分,能够相对于所述主体部进行相对移动,当设置在所述锁定部件上的槽和设置在所述主体部上的槽是连通状态时能够进行所述开放状态和所述捆扎状态的切换,当在所述捆扎状态下设置在所述锁定部件上的槽和设置在所述主体部上的槽是非连通状态时,所述处置部相对于所述长形部件被保持在所述捆扎状态。 [0015] and, may be, the body portion having a slot engagement with the annular member, a predetermined moving direction of the annular member, a portion of the member having the locking groove, can be relative to the main body portion for relative movement, when disposed in said groove and provided on the locking member in the groove portion of the main body is capable of switching the open state and the communication state when bundled state, when disposed in said non-communicating state when the bundled state grooves and grooves provided on the member on the main body portion of the lock, with respect to the treatment portion of the elongate member is held in the bundled state.

[0016] 并且,也可以是,上述方式的手术器具还具有:能够进行动作的处置器具片,其设置在所述处置部上;处置器具片动作用接合件(joint),其连结所述长形部件和所述处置器具片;以及移动部件,其与所述处置器具片动作用接合件连结,用于操作所述处置器具片,所述处置器具片动作用接合件具有:动作用第一转动部件,其与所述移动部件连结并绕规定的转动中心转动;动作用第二转动部件,其与所述动作用第一转动部件连结,使得该动作用第二转动部件以与所述第二转动轴部同轴或者与所述第二转动轴部相比离所述转动轴部更近的位置作为转动中心,与所述动作用第一转动部件反绕地进行相对旋转;连结件,其将所述动作用第二转动部件的旋转力转换成所述处置器具片的动作,所述处置器具片动作用接合件通过在所述连结部中的拆装,在所述动作 [0016] Further, it may be that the above-described embodiment of the surgical instrument further comprising: a treatment instrument can operate sheet, which is provided on the treatment portion; treatment instrument operation with a sheet engaging member (Joint), which is connected to the long shaped plate member and the surgical instrument; and a moving member with the engaging member connected to the treatment instrument operation sheets, sheets for operating the treatment instrument, the surgical instrument operation with sheet engaging member having: a first operation rotational member and connected to the moving member around a predetermined rotation center; operation with the second rotating member, which is linked to the operation of a first rotatable member, such that the operation with the second rotating member to the second two coaxial rotating shaft portion or the rotary shaft than the second portion of the rotation shaft portion from a position closer to a center of rotation, the relative rotation operation of the first rotating member to rewind; coupling member, which converts the rotating force of the operation member to the second rotating operation of the surgical instrument sheets, the operation of the treatment instrument sheet member by detachably engaging with the connecting portion, the operation 用第一转动部件和所述动作用第二转动部件之间被拆装。 A first rotary member and being removable by the action between the second rotating member.

[0017] 并且,也可以是,具有一对所述处置器具片,所述处置器具片的动作是所述一对处置器具片的开闭。 [0017] and may be, the treatment instrument having a pair of sheet, the operation of the treatment instrument opening and closing plate of the pair of treatment instrument sheets.

[0018] 本发明的另一方式是一种医疗用机械手,所述医疗用机械手具有:上述的手术器具;从机械手,其安装有所述手术器具并具有至少I个关节;以及主机械手,其发出用于驱动所述从机械手的所述关节的操作指令。 [0018] Another embodiment of the present invention is a medical manipulator, the medical having manipulator: the above-described surgical instruments; slave manipulator, which is attached to the surgical instrument and having at least I joints; and a master manipulator, which the operation instruction from the joint robot issues a command for driving.

[0019] 发明的效果 [0019] Effect of the Invention

[0020] 本发明的手术器具和医疗用机械手能够以简单的结构拆装处置部。 [0020] The surgical instrument according to the present invention and medical manipulator can be disposed of in a simple configuration detachable portion.

附图说明 BRIEF DESCRIPTION

[0021] 图1是具有本发明的一个实施方式的手术器具的医疗用机械手的整体图。 [0021] FIG. 1 is an overall view of a medical robotic surgical instruments with an embodiment of the present invention.

[0022] 图2是示出该手术器具的一部分结构的立体图。 [0022] FIG. 2 is a perspective view of a part of the structure of a surgical instrument.

[0023] 图3是示出该手术器具的一部分结构的说明图。 [0023] FIG. 3 is an explanatory diagram showing a configuration of a portion of the surgical instrument.

[0024] 图4是示出该手术器具的一部分结构的说明图。 [0024] FIG. 4 is an explanatory diagram showing a configuration of a portion of the surgical instrument.

[0025] 图5是示出该手术器具的一部分结构的说明图。 [0025] FIG. 5 is an explanatory diagram showing a configuration of a portion of the surgical instrument.

[0026] 图6是示出该手术器具中的处置部的结构的分解立体图。 [0026] FIG. 6 is an exploded perspective view of the treatment portion of the surgical instrument.

[0027] 图7是用于说明该手术器具中的处置部的弯曲动作的图。 [0027] FIG. 7 is a view of the bending operation of the treatment portion of the surgical instrument for explaining.

[0028] 图8是用于说明该手术器具中的处置部的弯曲动作的图。 [0028] FIG. 8 is a diagram illustrating the operation of the curved portion of the disposal of surgical instruments for explaining.

[0029] 图9是用于说明该手术器具中的处置部的弯曲动作的图。 [0029] FIG. 9 is a diagram illustrating the operation of the curved portion of the disposal of surgical instruments for explaining.

[0030] 图10是用于说明该手术器具中设置的处置部的拆装动作的立体图。 [0030] FIG. 10 is a perspective view of the disassembly operation of the treatment portion of the surgical instrument set for explaining.

[0031] 图11是用于说明该手术器具中设置的处置部的拆装动作的立体图。 [0031] FIG. 11 is a perspective view of the disassembly operation of the treatment portion of the surgical instrument set for explaining. [0032] 图12是用于说明该手术器具中设置的处置部的拆装动作的立体图。 [0032] FIG. 12 is a perspective view of the disassembly operation of the treatment portion of the surgical instrument set for explaining.

[0033] 图13是用于说明该手术器具中设置的处置部的拆装动作的立体图。 [0033] FIG. 13 is a perspective view of the disassembly operation of the treatment portion of the surgical instrument set for explaining.

[0034] 图14是用于说明该手术器具中设置的处置部的拆装动作的立体图。 [0034] FIG. 14 is a perspective view of the disassembly operation of the treatment portion of the surgical instrument provided in FIG.

[0035] 图15是示出该实施方式的另一变形例的结构的立体图。 [0035] FIG. 15 is a perspective view illustrating another modification of the embodiment of FIG.

[0036] 图16是用于说明该变形例的作用的立体图。 [0036] FIG. 16 is a perspective view of the embodiment of the action for explaining modification.

[0037] 图17是示出该实施方式的变形例的结构的立体图。 [0037] FIG. 17 is a perspective view illustrating a modified example of the embodiment.

[0038] 图18是示出该变形例的结构的截面图。 [0038] FIG. 18 is a sectional view showing a modification of the structure.

具体实施方式 Detailed ways

[0039] 对本发明的一个实施方式的手术器具1和医疗用机械手100进行说明。 [0039] The embodiment of a surgical instrument embodiment of the present invention and a medical manipulator 100 will be described. 图1是具有本实施方式的手术器具的医疗用机械手的整体图。 FIG 1 is a medical instrument having a surgical embodiment according to the present embodiment of the overall manipulator FIG. 图2是示出手术器具的一部分结构的立体图。 FIG 2 is a perspective view illustrating a part of a configuration of the surgical instrument. 图3至图5是示出手术器具的一部分结构的说明图。 3 to 5 are diagrams illustrating the surgical instrument illustrating a part of the structure. 图6是示出手术器具中的处置部的结构的分解立体图。 FIG 6 is an exploded perspective view of the treatment portion of the surgical instrument of FIG. 图7至图9是用于说明手术器具中的处置部的弯曲动作的图。 7 to FIG. 9 is a view for explaining the bending operation of the treatment portion of the surgical instrument of FIG. 另外,图3至图5以及图7至图9是用于说明本实施方式中的结构的示意图,有时没有严格对应部件的形状来图示。 Further, FIGS. 3 to 5 and 7 to FIG. 9 is a schematic view of a configuration of the present embodiment for explaining the embodiment, and sometimes does not correspond exactly to the shape of the member is illustrated.

[0040] 手术器具1作为医疗用机械手100的一部分,安装在医疗用机械手100上。 [0040] The surgical instrument 1 as part of a medical manipulator 100 is mounted on a medical manipulator 100.

[0041] 首先,对本实施方式的医疗用机械手100的结构进行说明。 [0041] First, the medical present embodiment will be described with reference to the structure of the robot 100. 如图1所示,医疗用机械手100具有:主机械手101、控制装置110、和从机械手120。 1, a medical manipulator 100 having: the main robot 101, the control means 110, and the robot 120.

[0042] 主机械手101作为将手术者的操作运动传递到从机械手120的主侧装置发挥作用,其具有:液晶显示装置等的主显示部102、和由手术者把持而进行操作的操作部103。 [0042] The main robot 101 is transmitted to the play from the host-side device manipulator 120 functions as the operation of the motion operator having: a liquid crystal display 102, and the operation portion is operated by the operator gripping the main display device or the like 103 . 主机械手101对操作部103进行的操作被输入到控制装置110。 Operating the manipulator 101 of the main operation unit 103 is input to the control device 110.

[0043] 控制装置110具有:主侧控制装置111,其受理来自主机械手101的输入;和从侧控制装置112,其向从机械手120输出驱动信号。 [0043] The control device 110 includes: a main-side control device 111, which receives an input from the main manipulator 101; and a control apparatus 112 from the side, which outputs a drive signal to the robot 120.

[0044] 在主侧控制装置111中,根据来自主机械手101的输入,生成用于使从机械手120进行动作的操作指令,将其输出到从侧控制装置112。 [0044] In the main-side control device 111, based on the input from the main manipulator 101, the operator generates an operation instruction from the robot 120, and outputs it to the control apparatus 112 from the side.

[0045] 在从侧控制装置112中,根据从主侧控制装置111发出的操作指令,生成用于驱动从机械手120的驱动信号,将其输出到从机械手120。 [0045] In the control apparatus 112 from the side, according to an operation instruction issued by the control means 111 from the main side, generates a driving signal from the robot 120, and outputs it to the manipulator 120.

[0046] 从机械手120具有从臂121,从臂121根据来自从侧控制装置112的驱动信号进行动作,在从臂121上安装有本实施方式的手术器具1。 [0046] From the robot 120 having the arm 121, the arm 121 is operated according to a drive signal from the control unit 112 from the side, from the mounting arm 121 of the present embodiment is a surgical instrument. 在从机械手120上,除了本实施方式的手术器具1以外,还可以安装用于进行外科手术的处置器具、内窥镜装置等。 From the robot 120, in addition to the surgical instrument 1 according to the present embodiment may also be installed for surgical treatment instrument of the endoscope apparatus and the like.

[0047] 下面,对手术器具1的结构进行说明。 [0047] Next, the configuration of the surgical instrument 1 will be described.

[0048] 手术器具1是用于对处置对象部位进行处置的医疗器具。 [0048] 1 is a surgical instrument for treatment site for disposal of the medical device. 如图1和图2所示,手术器具1具有:长形部件2、处置部6、连结部10、和驱动控制部45。 As shown in FIGS. 1 and 2, a surgical instrument comprising: an elongate member 2, the treatment unit 6, 10, and a drive unit 45 connected to the control unit.

[0049] 以下,将在手术器具1中设置有处置部6的一侧作为远位侧,将在手术器具1中设置有驱动控制部45的一侧作为近位侧来进行说明。 [0049] Hereinafter, a surgical instrument disposed in the side portion 6 of the disposal as the distal side of the surgical instrument 1 is provided in the side drive control unit 45 as the proximal side will be described.

[0050] 长形部件2是具有长度轴的筒状部件。 [0050] The elongated member 2 is a tubular member having a longitudinal axis. 长形部件2根据成为安装对象的从臂121的结构,可以是软性,也可以是硬性。 The elongated member 2 from the structure of the object be mounted arm 121 may be flexible or may be rigid. 在本实施方式中,示出长形部件2是硬性的例子。 In the present embodiment, shown is an elongated rigid member 2 examples.

[0051] 如图3和图7所示,在长形部件2的内部配置有用于使处置部6进行动作的连杆3 (移动部件)。 [0051] As shown in FIG. 3 and FIG. 7, in the interior of the elongate member 2 is arranged for the disposal of the link portion 3 6 (movable member) operation. 连杆3具有:弯曲用杆4,其一端与后述的弯曲用双接合件11连结,另一端与驱动控制部45连结;和开闭用杆5,其一端与后述的开闭用接合件27连结,另一端与驱动控制部45连结。 Link 3 has: a curved rod 4, one end thereof engaging with the curved member 11 is coupled with a double, the other end of the drive control unit 45 to be described later link; opening and closing lever 5, for opening and closing engagement with the rear end thereof described coupling member 27, and the other end coupled with the drive control unit 45.

[0052] 处置部6被设置用于对处置对象部位进行处置。 [0052] The portion 6 is provided for the disposal of the treatment site for disposal. 在本实施方式中,如图2和图6所示,处置部6是具有可进行开闭动作的一对钳子片7a、7b、和保持钳子片7a、7b的盖8的钳子。 In the present embodiment, as shown in FIGS. 2 and 6, the treatment section 6 may be opened and closed with a pair of forceps pieces 7a, 7b, and holding forceps pieces 7a, 7b of the cap 8 of the forceps. 一对钳子片7a、7b通过作为各钳子片7a、7b的转动轴的轴状部件9而相互连结。 Pair of forceps pieces 7a, 7b. 9 coupled to each other by a shaft-like member as a rotation shaft of the forceps pieces 7a, 7b of.

[0053] 连结部10连接长形部件2和处置部6。 [0053] The coupling portion 10 connecting the elongate member and the treatment portion 2 6. 连结部10具有:弯曲用双接合件11,其用于使处置部6相对于长形部件2弯曲;和开闭用接合件27,其用于使一对钳子片7a、7b进行开闭动作。 Having a connecting portion 10: engaging member 11 is bent double, for the surgical portion 6 with respect to the elongate member 2 is bent; and opening and closing the engaging member 27 for the pair of forceps pieces 7a, 7b is opened and closed .

[0054] 弯曲用双接合件11具有:第一嵌合齿部12,其固定在长形部件2的远位端;第一转动轴部13,其与长形部件2的远位端连结;第二转动轴部14,其与第一转动轴部13平行地延伸并与处置部6连结;第二嵌合齿部15,其固定在处置部6上;和卡定部16,其切换处置部6对于长形部件2的连结状态。 [0054] double curved engagement member 11 has: a first tooth fitting portion 12, which is fixed to the distal end of the elongate member 2; a first rotation shaft portion 13, which is coupled to the distal end of the elongate member 2; second rotating shaft portion 14, which extends parallel to the first rotation shaft portion 13 and to dispose the connecting portion 6;, the second fitting portion 15 which is fixed to the teeth disposition portion 6; and a locking portion 16, which switches disposal coupling portion 6 for state 2 the elongate member.

[0055] 第一嵌合齿部12在以第一转动轴部13的转动中心为中心的圆周上具有齿轮状的齿。 [0055] The first tooth fitting portion 12 having a gear tooth shape on the center of rotation of the first rotation shaft portion 13 as the center of the circumference. 并且,第二嵌合齿部15在以第二转动轴部14的转动中心为中心的圆周上具有齿轮状的齿,并与第一嵌合齿部12哨合。 Further, the second fitting portion 15 having a gear tooth like teeth on a center of rotation of the second rotation shaft portion 14 as the center of the circumference, and the post 12 is engaged with the first tooth fitting portion. 第一嵌合齿部12和第二嵌合齿部15在半径彼此相等的圆周上具有齿,被设定成比率是1:1的关系。 The first fitting portion 12 and the second tooth fitting portion 15 having a toothed teeth on the circumference of a radius equal to each other, is set to a ratio of 1: 1 relationship.

[0056] 第二嵌合齿部15能够一边沿着第一嵌合齿部12的圆周旋转一边进行移动。 [0056] The second tooth fitting portion 15 can be moved along the circumference of the rotating side edge of the first tooth portion 12 of the fitting. 另外,也可以设置有利用摩擦力使外周部分互相接触而进行相对转动的板状部件,来取代第一嵌合齿部12和第二嵌合齿部15。 Further, use may be provided with a frictional contact with each other so that the outer peripheral portion of the plate-shaped member and the relative rotation, to replace the first tooth fitting portion 12 and the second tooth fitting portion 15.

[0057] 另外,在本实施方式中,不出使第一嵌合齿部12和第二嵌合齿部15通过齿轮的哨合进行摩擦接触的结构,然而不必限定于通过齿轮的啮合进行摩擦接触的结构。 [0057] Further, in the present embodiment, no fitting of the first tooth portion 12 and the second tooth fitting portion 15 by frictional contact post gear engagement structure, but not necessarily limited to the ring gear by rubbing contact structure. 例如,可以采用如下的机构:该机构中,如取代基于齿轮啮合的摩擦接触而使没有摩擦接触的齿轮啮合的2个橡胶辊(摩擦力大)摩擦接触的结构等那样,使2个旋转体之间相互不滑动而能够旋转滚动。 For example, a mechanism may be adopted: the mechanism, such as substituted on the frictional contact of the gear is not 2 rubber rollers (high friction) or the like as the structure of the frictional contact of the gear engaged in frictional contact, so that the rotating body 2 between each scroll can be rotated without slippage.

[0058] 第一转动轴部13和第二转动轴部14均是转动中心在与长形部件2的长度轴的延长线正交的方向上延伸的相互平行的轴。 [0058] axis 14 parallel to each other are the rotation center of the first rotation shaft portion 13 and the second rotary shaft portion extending in a direction of an extension line of the longitudinal axis of the elongate member 2 orthogonal.

[0059] 如图2所示,卡定部16具有:主体部17、环状部件19、和锁定部件21。 [0059] 2, the locking portion 16 includes: a main body portion 17, the annular member 19, and the locking member 21.

[0060] 主体部17将第一嵌合齿部12和第二嵌合齿部15之间的距离保持为一定。 [0060] The main body portion 17 a distance 15 between the first tooth fitting portion 12 and the second tooth fitting portion is kept constant. 连杆3中的弯曲用杆4与主体部17连接。 3, the link rod 4 with a curved main body portion 17 is connected. 通过使弯曲用杆4在长形部件2的长度轴方向上进行进退动作,使得主体部17绕第一转动轴部13转动。 By bending the lever 4 moves back and forth in the direction of the longitudinal axis of the elongate member 2, such that the body portion 17 about the first rotation shaft portion 13. 由此,第二转动轴部14以第一转动轴部13为旋转中心进行旋转动作。 Thereby, the second rotation shaft portion 14 of the first rotation shaft portion 13 as a rotation center of rotation motion.

[0061] 并且,主体部17以相对于第一转动轴部13可相对转动且不可取下的方式与第一转动轴部13连接。 [0061] Further, the body portion 17 relative to the first rotation shaft portion 13 and rotatable relative to the way the undesirable portion of the first rotation shaft 13 is connected. 而且,主体部17能够以处置部6相对于主体部17成为规定的安装方向的方式可与第二转动轴部14卡合,并且可相对于第二转动轴部14拆装。 Further, the main body portion 17 can be manner to handle portion 6 with respect to the mounting direction of a predetermined portion of the main body 17 may be 14 engaged with the second rotating shaft portion, and may be rotatable relative to the second shaft portion 14 detachably.

[0062] 在主体部17上设置有用于规定环状部件19的移动方向的引导件18。 [0062] provided with a guide member for defining the direction of movement 18 of the annular member 19 on the body portion 17. 在本实施方式中,引导件18在主体部17的外表面上具有在一个方向上延伸而形成的槽。 In the present embodiment, the guide member 18 having a groove extending in one direction are formed on the outer surface 17 of the body portion. 形成在环状部件19上的突起20进入到成为引导件18的槽内。 It is formed on the annular projection 20 of the member 19 into slot guide 18 becomes. 由此,环状部件19沿着槽移动。 Thus, the annular member 19 is moved along the slot.

[0063] 环状部件19与主体部17分体设置,将主体部17和第二转动轴部14捆扎。 [0063] 19 and the annular member 17 is provided separately from the main body portion, the body portion 17 and the second rotation shaft portion 14 tying. 即,主体部17的一部分和第二转动轴部14的一部分都被插入到环状部件19的内部,利用环状部件19将主体部17和第二转动轴部14捆扎成一体。 That is, a part of the main body portion 17 and a second portion 14 of the rotary shaft portion are inserted into the interior 19 of the annular member, the annular member 19 by using the main body portion 17 and the second rotation shaft portion 14 integrally bundled. 并且,在环状部件19上形成有突起20,突起20进入到形成于主体部17上的槽(引导件18)内。 Further, there is formed a protrusion 20, the protrusion 20 into the groove formed on the body portion 17 (guide member 18) of the annular member 19.

[0064] 当环状部件19配置在将主体部17和第二转动轴部14捆扎的位置时,处置部6成为与长形部件2连结的状态(以下称为“捆扎状态”)。 [0064] When the annular member 19 disposed in the main body portion 17 and the second rotation shaft portion 14 of the strapping position, the treatment section 6 becomes a state coupled to the elongate member 2 (hereinafter referred to as "bundled state"). 并且,当环状部件19配置在从将主体部17和第二转动轴部14捆扎的位置偏离的位置时,成为可将处置部6从长形部件2上取下的状态(以下称为“开放状态”)。 Further, when the annular member 19 disposed at the position of the body portion 17 and the second rotation shaft portion 14 offset from the tying position, the treatment portion can be from state 6 is removed from the elongated member 2 (hereinafter referred to as " open state ").

[0065] 锁定部件21被设置用于切换上述的捆扎状态和开放状态。 [0065] The strapping state and the open state is provided for switching the locking member 21. 锁定部件21具有可与形成在主体部17上的槽(引导件18)连通的槽22。 The locking member having a groove with groove 21 formed on the body portion 17 (guide member 18) 22 communication. 形成在锁定部件21上的槽22具有作为形成在主体部17上的引导件18的一部分来限制环状部件19的移动方向的功能。 Grooves formed on the locking member 22 has a part 21 of the guide member 18 is formed on the body portion 17 to restrict the direction of movement of the annular member 19 functions.

[0066] 锁定部件21可绕第一转动轴部13的转动中心转动。 [0066] The locking member 21 rotatable center of the first rotation shaft 13 is rotated about the portion. 并且,当绕第一转动部件的转动中心将规定以上的旋转力作为外力施加给锁定部件21时,锁定部件21可相对于主体部17绕第一转动轴部13的转动中心进行相对转动。 Further, when the center of rotation of the rotary member about the first rotational force above a predetermined force is applied to the locking member 21, the locking member 21 with respect to the main body portion 17 may be rotated about the center of the first rotation shaft portion 13 of relative rotation. 即,操作者通过使锁定部件21旋转而使锁定部件21相对于主体部17进行相对旋转,能够切换形成在锁定部件21上的槽22和形成在主体部17上的引导件18的连通状态。 That is, the operator by the locking member 21 by rotating the locking member 21 with respect to the main body portion 17 for relative rotation and capable of switching the communication state is formed on the locking member 21 a groove 22 formed on the body portion 17 of the guide 18. 另外,在未施加使锁定部件21旋转的上述外力的状态下,锁定部件21与主体部17 —体地进行动作。 Also in the state that the external force is not applied to the locking member 21 rotates, the locking member 21 and the body portion 17 - the body operates.

[0067] 当形成在锁定部件21上的槽22和形成在主体部17上的引导件18是连通状态时,环状部件19可沿着形成在锁定部件21上的槽22和形成在主体部17上的引导件18自如地移动。 Groove [0067] When the groove 22 and the guide member is formed on the body portion 17 is formed on the locking member 18, 21 is communicated state, the annular member 19 may be formed on the locking member along the 22 and 21 formed in the body portion the guide member 1718 movably. 当形成在锁定部件21上的槽22和形成在主体部17上的引导件18是非连通状态时,环状部件19无法进入到形成在锁定部件21上的槽22内。 A non-communicating state when the guide member 18 is formed on the locking groove 21 of member 22 and formed on the body portion 17, the annular member 19 can not enter into the grooves 22 formed on the locking member 21. 因此,当在上述捆扎状态下形成在锁定部件21上的槽22和形成在主体部17上的引导件18是非连通状态时,处置部6相对于长形部件2保持上述的捆扎状态。 Thus, when the locking member 21 is formed on a non-communication state of the groove 22 and the guide member 17 formed on the body portion 18 of the tying in the above state, the treatment section 6 with respect to the elongate member 2 holding the strapping state.

[0068] 如图6至图9所示,开闭用接合件27具有:开闭用第一齿轮23,其与开闭用杆5连结并绕与第一转动轴部13相同的轴转动;开闭用第二齿轮24,其与开闭用第一齿轮23啮合并绕与第二转动轴部14相同的轴转动;齿条25,其与开闭用第二齿轮24连结;连结要素26a,其将齿条25和钳子片7a连结;以及连结要素26b,其将齿条25和钳子片7b连结。 [0068] As shown in FIG. 6 to FIG. 9, the shutter member 27 by engaging with: a first opening and closing gear 23, with the rod 5 for opening and closing the link and rotatable about the same axis as the first rotating shaft portion 13; a second opening and closing gear 24, 23 which engage and rotate about the same axis 14 and the second rotary shaft portion and a first opening and closing gear; rack 25, with the opening and closing of the second coupling gear 24; 26a coupling element which the rack 25 and connected to the forceps pieces 7a; and a coupling element 26b, which the rack 25 and connected to the forceps pieces 7b.

[0069] 另外,在本实施方式中,示出使开闭用第一齿轮23和开闭用第二齿轮24通过齿轮的啮合进行摩擦接触的结构,然而不必限定于通过齿轮的啮合进行摩擦接触的结构。 [0069] Further, in the present embodiment shows the case where the opening and closing of the first gear 23 and the shutter 24 by frictional contact with the structure of the second gear with the ring gear, but not necessarily limited by the frictional contact of the gear Structure. 例如,可以采用如下的机构:该机构中,如取代基于齿轮啮合的摩擦接触而使摩擦接触的齿轮啮合不存在的2个橡胶辊(摩擦力大)摩擦接触的结构等那样,使2个旋转体之间相互不滑动而能够旋转滚动。 For example, a mechanism may be adopted: the mechanism, such as substituted gear engaged gear based on the frictional contact frictional contact with the rubber roll 2 is engaged (high friction) and other structures such as frictional contact does not exist in the two rotational each other without slippage between the rolling body rotatably.

[0070] 图6所示的连结要素26a、26b通过齿条25被传递牵引力,该牵引力是经由图7所示的开闭用第一齿轮23和开闭用第二齿轮24从开闭用杆5传递的。 Coupling elements shown in [0070] FIG. 6 26a, 26b 25 is transmitted through a rack traction, the traction 23 and opening and closing the second opening and closing gear with the first gear 7 shown in FIG. 24 via the closing lever 5 passed. 连结要素26a、26b将齿条25的进退动作转换成钳子片7a、7b的开闭动作。 Coupling elements 26a, 26b to advance and retreat rack 25 into opening and closing the forceps pieces 7a, 7b of.

[0071] 在本实施方式中,开闭用接合件27的连结要素25构成肘节机构(togglemechanism),随着各钳子片7a、7b向关闭的方向移动,钳子片7a、7b的把持力以指数函数的 [0071] In the present embodiment, opening and closing the engaging member 27 of coupling element 25 constituting the toggle mechanism (togglemechanism), moved in the direction to close the forceps with the sheet 7a, 7b, the gripping force of the forceps pieces 7a, 7b to exponential function

方式升高。 Elevated way.

[0072] 图1所示的驱动控制部45具有:致动器46,其使连杆3 (弯曲用杆4和开闭用杆5)在长形部件2的长度轴方向上进退;和检测部47,其检测致动器46的动作量。 [0072] The drive control unit shown in FIG. 1 with 45: actuator 46, which is the link 3 (the bent lever closing lever 4 and 5) back and forth in the direction of the longitudinal axis of the elongate member 2; and detection section 47, which detects the operation amount of the actuator 46. 驱动控制部45根据从从侧控制装置112输出的驱动信号进行动作。 The drive control unit 45 operates the driving signal output unit 112 from the control side. 检测部47检测致动器46的动作量并将其输出到从侧控制装置112。 Detecting section 47 detects an operation amount of the actuator 46, and outputs it to the control apparatus 112 from the side. 由此,对驱动控制部45中的致动器46的动作进行反馈控制。 Thus, the operation of the drive control unit 45 of the actuator 46 is feedback-controlled.

[0073] 下面,以手术器具I的动作原理和作用为中心对本实施方式的手术器具I和医疗用机械手100的作用进行说明。 [0073] Next, the center of surgical instruments and medical I of the present embodiment will be described with reference to the mechanical hand 100 to the operation principle and function of surgical instruments I.

[0074] 手术器具I是在弯曲用双接合件11和开闭用接合件27上连结了处置部6和长形部件2的状态下使用的。 [0074] I is the surgical instruments used in the condition of the double curved engagement member 11 and the coupling member for opening and closing the engaging portion 6 and the disposition on the elongated member 272 is used. 并且,手术器具I还可以从长形部件2上取下处置部6,将另外的处置部6安装在长形部件2上。 Further, the surgical instrument can be removed disposal unit I 6 from the elongate member 2, additional disposal unit 6 is mounted on the elongate member 2. 例如,可以一边更换不同种类的处置部6 —边进行处置,或者将产生动作不良情况等的处置部6更换为另外的新的处置部6来继续处置。 For example, while replacement of different types of disposal unit 6 - side for disposal, or the like defects generated disposal operation portion 6 is replaced with another new disposal unit 6 continues disposal.

[0075] 首先,对手术器具I的使用时的作用进行说明。 [0075] First, the operation when using surgical instrument I will be described.

[0076] 可以通过基于致动器46的弯曲用杆4的进退动作来使弯曲用双接合件11进行动作。 [0076] The bending may be operated by a double engaging member 11 moves back and forth based on the bending rod 46 of the actuator 4. 并且,可以通过基于致动器46的开闭用杆5的进退动作,使开闭用接合件27独立于弯曲用双接合件11而进行动作。 And, independently of the operation may be double curved engagement member 11 moves forward and backward and 5 based on the opening and closing of the actuator rod 46, the opening and closing member 27 by engagement.

[0077] 这里,对弯曲用双接合件11的作用进行说明。 [0077] Here, the operation of bending the double engagement member 11 will be described.

[0078] 当不使开闭用杆5进退移动而使弯曲用杆4进退移动时,如图3至图5所示,第二转动轴部14以第一转动轴部13作为旋转中心进行旋转动作。 [0078] When not the opening and closing lever 5 moves forward and backward with the bent lever moves forward and backward, as shown in FIGS. 3 to 5, the second rotation shaft 14 as a rotation center 13 to the first rotating shaft 4 of the rotary action. 此时,由于第二嵌合齿部15与设置在弯曲用双接合件11上的第一嵌合齿部12哨合,因而第二嵌合齿部15以第二转动轴部14作为旋转中心进行转动。 At this time, since the second tooth fitting portion 15 provided in the curved portion 12 with the first fitting tooth engaged on the post members 11 engaging double, and thus the second fitting portion 15 of the second gear rotation shaft 14 as a rotation center portion rotated. 在第二转动轴部14以第一转动轴部13作为旋转中心进行旋转动作的同时,第二嵌合齿部15绕第二转动轴部14转动,由此处置部6中的一对钳子片7a、7b的方向发生变化。 14 while rotating operation of the rotation axis as a rotation center of the second portion to the first rotation shaft portion 13, the second tooth fitting portion 15 around the second rotation shaft 14 rotates, thereby the treatment section 6 of the pair of forceps pieces 7a, 7b direction changes. 并且,此时,一对钳子片7a、7b不进行开闭动作。 And, this time, the pair of forceps pieces 7a, 7b is not opened and closed.

[0079] 在该情况下,在弯曲用双接合件11中,主体部17以与第一嵌合齿部12的半径和第二嵌合齿部15的半径的比率`对应的角度进行移动。 [0079] In this case, the double bending member 11 engaging the body portion 17 'corresponding to the ratio of the radius 12 and the radius of the teeth portion of the first fitting portion 15 of the second fitting angle tooth movement.

[0080] 例如,当设第一嵌合齿部12的半径为rl、设第二嵌合齿部15的半径为r2、设主体部17的转动角度为0、设处置部6的转动角度为Φ时, [0080] For example, when the first set tooth fitting portion 12 is a radius rl, the second radius of the tooth fitting portion 15 is r2, the rotation angle of the main body portion 17 is provided to 0, provided the treatment portion of the rotation angle 6 when Φ,

[0081] [0081]

Figure CN103732173AD00091

[0083] 例如,如本实施方式那样,第一嵌合齿部12的半松ri与第二嵌合齿部15的半径r2的比率是1:1的情况下(rl = r2),得到: [0083] For example, as in the present embodiment, r2 ratio of radius of the first tooth fitting portion 12 and the second semi-ri loose fitting teeth 15 is 1: 1 in the case of (rl = r2), to give:

[0084] [0084]

Figure CN103732173AD00092

[0085] 因此,如果以第一转动轴部13为中心使主体部17转动45度,则设置在处置部6侧的第二嵌合齿部15相对于第一嵌合齿部12倾斜90度。 [0085] Thus, if the first rotation shaft portion 13 as the center portion of the second fitting body 17 is rotated 45 degrees, the side of the treatment portion 6 provided at the tooth portion 15 with respect to the first tooth fitting portion 12 is inclined 90 degrees . 也就是说,由于是增速机构,因而可使主体部17的角度移动量相对于作为目标的处置部6的角度移动量减少。 That is, since the speed increasing mechanism, and thus allow the amount of angular movement of the main body portion 17 with respect to the amount of angular movement of the disposal target portion 6 is reduced.

[0086] 下面,对相对于长形部件2拆装处置部6的情况的作用进行说明。 [0086] Next, with respect to the treatment portion 2 detachable elongate member 6 are described below.

[0087] 图10至图14是用于说明处置部6的拆装动作的立体图。 [0087] FIG 10 to FIG 14 is a perspective view illustrating attachment and detachment operation portion 6 for disposal.

[0088] 在需要将处置部6从长形部件2上取下的情况下,通过使锁定部件21相对于主体部17进行相对旋转,将形成在锁定部件21上的槽22和形成在主体部17上的引导件18从非连通状态(参照图10)变更为连通状态(参照图11)。 [0088] In the case where the treatment portion 6 needs to be removed from the elongated member 2, by the locking member 21 with respect to the relative rotation of the body portion 17, formed on the locking member 21 and a groove 22 formed in the body portion the guide member 1718 is changed from a non-communicating state (see FIG. 10) is a communicating state (see FIG. 11). 这例如可以通过将平头螺丝刀插入到形成于锁定部件22上的槽22内并转动锁定部件21,来容易地进行。 This can, for example, by inserting a flathead screwdriver formed in the locking member 21 and rotates the locking grooves 22 on the member 22 to be easily performed.

[0089] 当形成在锁定部件21上的槽22和形成在主体部17上的引导件18成为连通状态时,能够使环状部件19从第二转动轴部14侧通过锁定部件21的槽22而向第一转动轴部13侧移动。 [0089] When the groove 21 is formed on the lock member 22 and the guide member 17 formed on the body portion 18 of a communicating state, the annular member 19 can be made from the side of the second rotation shaft 14 by the locking portion 21 of the groove member 22 13 moves toward the side of the first rotary shaft portion. 如图12所示,当操作者使环状部件19向第一转动轴部13侧进行了移动时,第二转动轴部14和主体部17的捆扎脱开,如图13和图14所示,第二转动轴部14和与第二转动轴部14连结的处置部6从主体部17脱开。 12, when the operator causes the annular member 19 has moved to the first side shaft portion 13 is rotated, the second rotation shaft portion 14 and the main body portion 17 of the strapping is disengaged, as shown in FIGS. 14 and 13 the second rotation shaft portion 14 and the second rotational shaft 14 and the connecting portion 6 of the treatment portion 17 is disengaged from the main body portion.

[0090] 另外,在本实施方式中,无论弯曲用双接合件11处于何种弯曲状态,并且无论开闭用接合件27处于何种开闭状态,都能够从长形部件2上取下处置部6。 [0090] Further, in the present embodiment, regardless of the bending member 11 engaging double curved state in which, regardless of opening and closing and engaging member 27 which is opened and closed state, can be removed from the disposal of the elongate member 2 6.

[0091] 之后,可以安装另外的处置部6,或者清洗取下的处置部6并再次安装。 After [0091], it can be mounted additional disposal unit 6, or the disposal of the cleaning unit 6 is removed and installed again.

[0092] 在将处置部6安装于长形部件2上时,以使第一嵌合齿部12和第二嵌合齿部15啮合、开闭用第一齿轮23和开闭用第二齿轮24啮合的方式对处置部6进行定位,使主体部17与第二转动轴部14卡合,而且通过环状部件19将第二转动轴部14和主体部17捆扎。 [0092] When the treatment portion 6 attached to the elongate member 2, such that the first tooth fitting portion 12 and second fitting portion 15 engages the teeth, opening and closing the first opening and closing gear 23 and second gear 24 embodiment engaged disposal unit 6 is positioned, the main body portion 17 and the second rotary shaft portion 14 is engaged by the annular member 19 and the second rotation shaft portion 14 and the main body portion 17 tying. 之后,使锁定部件21相对于主体部17旋转,使形成在锁定部件21上的槽22和形成在主体部17上的引导件18成为非连通状态。 Thereafter, the locking member 21 with respect to the main body portion 17 is rotated, the groove forming member 22 and the guide 17 formed on the body portion 21 on the lock member 18 of non-communication state. [0093] 由此,能够使用安装在长形部件2上的处置部6。 Treatment portion [0093] Thus, use can be mounted on the elongate member 2 of 6.

[0094] 如以上说明那样,根据本实施方式的手术器具I和医疗用机械手100,由于利用环状部件19将主体部17和第二转动轴部14捆扎,因而能够以简单的结构相对于长形部件2拆装处置部6。 [0094] As described above, manipulator 100, since the annular member 19 to the body portion 17 and the second rotation shaft portion I 14 strapping surgical tool according to the present embodiment and the medical embodiment, it is possible in a simple configuration with respect to the long 2 detachable treatment portion shaped member 6.

[0095] 并且,根据本实施方式的手术器具I和医疗用机械手100,与专利文献I记载的技术相比较,为了使处置部6可拆装而增加的部件的数量较少。 [0095] Further, the surgical tool according to embodiment I and embodiment of the present medical manipulator 100, with the technique disclosed in Patent Document I is compared to a smaller number of the treatment section 6 may be detachably added member.

[0096] 并且,处置部6和长形部件2的拆装是通过在第一转动轴部13和第二转动轴部14之间的安装和分离来进行的,因而可将相对于长形部件2改变处置部6的方向的关节部分的部件用于处置部6的拆装。 [0096] Further, the disposal unit 6 and the detachable elongate member 2 is achieved by the installation and the separation between the first rotation shaft 14 and the second portion 13 to the rotation shaft section, which can be relative to the elongate member 2 in the direction of the hinge part 6 of the removable means for changing the treatment portion of the treatment portion 6. 因此,在本实施方式的手术器具和医疗用机械手100中,相对于在处置部6不可拆装的情况下的结构而增加的部件的数量较少。 Accordingly, medical and surgical instruments in the present embodiment, the robot 100 with respect to the structure in a small number in the case of non-treatment portion 6 increases the removable member.

[0097](变形例I) [0097] (Modification I)

[0098] 下面,对本实施方式的变形例进行说明。 [0098] Next, a modification example of the present embodiment will be described. 图15是示出本变形例的结构的立体图。 FIG 15 is a perspective view illustrating a configuration of the present modification. 图16是用于说明本变形例的作用的立体图。 FIG 16 is a perspective view for explaining the effect of the present modification.

[0099] 如图15所示,在本变形例中,取代主体部17和第二转动轴部14是可拆装的结构,主体部17可分离为远位侧部件17A和近位侧部件17B。 [0099] shown in Figure 15, in this modified embodiment, instead of the main body portion 17 and the second rotational shaft portion 14 is detachable configuration, the distal side 17 of the detachable member 17A and the proximal body portion 17B side member .

[0100] 如图15和图16所示,在远位侧部件17A上形成有与近位侧部件17B卡合的爪部48。 As shown in [0100] FIGS. 15 and 16, there is formed claw portion 48 and the proximal-side engaging member 17B on the distal side member 17A. 在近位侧部件17B上形成有供远位侧部件17A的爪部48进入的凹部49。 Recess 49 is formed the pawl portion 48 into the distal side with a supply member 17A on the proximal side member 17B. 使用爪部48和凹部49,与在上述的实施方式中说明的卡定部16同样地构成使第一转动轴部13和处置部6成为卡定状态的卡定部16。 Using the claw portions 48 and the recess 49, the locking unit described in the above embodiment 16 configured similarly to the first rotation shaft portion 13 and the treatment portion 6 becomes engaged portion 16 engaged condition.

[0101] 对近位侧部件17B的凹部49压入远位侧部件17A的爪部48,由此近位侧部件17B和远位侧部件17A稍微弹性变形,爪部48进入到凹部49内。 [0101] slightly elastically deformed pair of claw portions pressed into the distal side member 17A of the proximal-side member 17B of the concave portion 49 48, whereby the proximal-side member 17B and the distal side member 17A, the claw portion 48 enters into the recess 49. 由此,处置部6被卡定到长形部件2。 Thus, the treatment unit 6 is locked to the elongate member 2.

[0102] 即使是这样的结构,也取得与上述的实施方式相同的效果。 [0102] Even in such a configuration, also made with the above-described embodiment the same effect.

[0103] 并且,在本变形例中,与上述的实施方式相比,部件数量更少。 [0103] Further, in this modification, as compared with the above-described embodiment, the number of fewer parts. [0104] 另外,在包含上述的变形例的实施方式中,作为处置器具片的动作,以使作为一对处置器具片的钳子片7a、7b开闭的动作为例作了说明,然而不限于此。 [0104] Further, in the embodiment including the modification of the embodiment, as the sheet treatment instrument operation, so that a pair of forceps pieces treatment instrument sheets 7a, 7b of the opening and closing operation has been described as an example, but not limited to this. 例如,也可以是使一个处置器具片弯曲(转动)的动作。 For example, the operation may be to make a treatment instrument bending sheet (rotation) of. 并且,处置器具片也可以是钳子片以外的医疗器具。 In addition, the treatment tool piece may also be medical devices other than the forceps piece.

[0105](变形例2) [0105] (Modification Example 2)

[0106] 下面,对本实施方式的另一变形例进行说明。 [0106] Next, another modification of the present embodiment will be described. 图17是示出本变形例的结构的立体图。 FIG 17 is a perspective view showing a configuration of the present modification. 图18是用于说明本变形例的结构的截面图。 FIG 18 is a sectional view of the structure for explaining an embodiment of the present modification.

[0107] 如图17和图18所示,在本变形例中,取代具有钳子片7a、7b的处置部6,设置具有作为电刀的电极50的处置部6。 [0107] FIG 17 and FIG 18, in this modified embodiment, instead of having a disposal unit forceps pieces 7a, 7b 6, the treatment portion is provided with an electrode 50 of a knife 6.

[0108] 并且,在长形部件2上设置有与电刀的电极50电连接的导线51。 [0108] and provided with a lead 51 electrically connected to the electric knife electrode 50 on the elongate member 2. 导线51和电极50经由将导线51和电极50可拆装地连结的插头52连接。 Wire 51 and the electrode 50 via the wires 51 and 52 connected to a plug electrode 50 is detachably coupled. 另外,本变形例的处置部6无需与开闭用接合件27连接,无需具有开闭用接合件27。 In addition, the treatment section 6 of the present embodiment need not be modified for opening and closing the engagement member 27 is connected, without having the engagement member 27 for opening and closing. 并且,在本变形例中,也可以不具有开闭用接合件27和开闭用杆5。 Further, in this modification, it may not have the engagement member 27 with the shutter opening and closing lever 5.

[0109] 即使是这样的结构,也取得与上述的实施方式相同的效果。 [0109] Even in such a configuration, also made with the above-described embodiment the same effect.

[0110] 以上,参照附图对本发明的实施方式作了详述,然而具体的结构不限于该实施方式。 [0110] above, been described in detail with reference to the accompanying drawings embodiments of the present invention, but the specific configuration is not limited to this embodiment.

[0111] 例如,可以采用不具有上述的第二转动轴部而在第一转动轴部中弯曲的处置部。 [0111] For example, the treatment unit does not have the above-described second rotary shaft portion is bent at a first pivot shaft portion may be employed.

[0112] 并且,本发明还包含不脱离本发明的宗旨的范围的设计变更等。 [0112] The present invention also comprises a purpose of the present invention without departing from the scope of the design changes.

[0113] 产业上的可用性 [0113] availability on the industry

[0114] 本发明可用作手术器具和医疗用机械手。 [0114] The present invention is useful as a surgical instrument and a medical manipulator. 并且,本发明可利用的领域不限于医疗领域。 Further, the present invention can be used is not limited to the medical field.

[0115] 标号说明 [0115] DESCRIPTION OF REFERENCE NUMERALS

[0116] 1:手术器具;2:长形部件;3:连杆;4:弯曲用杆;5:开闭用杆;6:处置部;7a、7b:甜子片;8:盖;9:轴状部件;10:连结部;11:弯曲用双接合件;12:弟一嵌合齿部(弟一滚动引导部);13 ••第I转动轴部;14:第二转动轴部;15:第二嵌合齿部(滚动引导部;第二滚动引导部);16:卡定部;17:王体部;17A:远位侧部件;17B:近位侧部件;18:引导件;19:环状部件;20:突起;21:锁定部件;22:槽;23:开闭用第一齿轮(第一滚动引导部);24:开闭用第二齿轮(滚动引导部;第二滚动引导部);25:齿条;26a、26b:连结要素;27:开闭用接合件;45:驱动控制部;46:致动器;47:检测部;48:爪部;49:凹部;50:电极;51:导线;52:插头;100:医疗用机械手;101:王机械手;102:王显不部;103 呆作部;110:控制装直;111:主侧控制装置;112:从侧控制装置;120:从机械手;121:从臂。 [0116] 1: surgical instruments; 2: an elongate member; 3: link; 4: bending rod; 5: closing lever; 6: treatment portion; 7a, 7b: sweet sub-sheet; 8: Cover; 9 : a shaft-like member; 10: connecting portion; 11: engaging member is bent double; 12: fitting a brother toothing (brother a roller guide portion); 13 •• a first rotation shaft portion I; 14: second rotating shaft portion ; 15: second tooth fitting portion (the roller guide portion; a second roller guide portion); 16: locking portion; 17: Wang body portion;. 17A: distal side member; 17B: proximal-side member; 18: guide member; 19: an annular member; 20: protrusion; 21: locking member; 22: groove; 23: first opening and closing gear (first rolling guide portion); 24: with a second gear (rolling shutter guide portion; a second rolling guide portion); 25: rack; 26a, 26b: connecting element; 27: opening and closing the engaging member; 45: drive control unit; 46: actuator; 47: detection portion; 48: pawl portion; 49: recessed portion ; 50: electrode; 51: wire; 52: plug; 100: medical manipulator; 101: Wang robot; 102: Wang substantially no part; 103 stay for portion; 110: control means straight; 111: master-side control means; 112 : the control means from the side; 120: slave manipulator; 121: from the arm.

Claims (6)

1.一种手术器具,所述手术器具对处置对象部位进行处置,其特征在于,所述手术器具具有: 筒状的长形部件,其具有长度轴; 处置部,其与所述长形部件连结;以及连结部,其将所述长形部件和所述处置部可拆装地连结, 所述连结部具有: 第一转动轴部,其设置在所述长形部件上; 第二转动轴部,其设置在所述处置部上; 第一滚动引导部,其设置在所述长形部件上并配备有在与所述第一转动轴部同轴上具有中心的圆弧状部; 第二滚动引导部,其具有滚动引导部,所述滚动引导部设置在所述处置部上并配备有在与所述第二转动轴部同轴上具有中心的圆弧状部,该滚动引导部与所述第一滚动引导部滚动接触;以及卡定部,其使所述第一转动轴部和所述第二转动轴部处于卡定状态, 所述连结部在所述第一转动轴部和所述第二转动轴部之间被拆装。 1. A surgical instrument, the surgical instrument to the treatment site for disposal, wherein said surgical instrument comprising: an elongated tubular member having a longitudinal axis; treatment portion, with said elongate member link; and a coupling portion, which the elongate member and the treatment portion is detachably coupled, the connecting portion having: a first rotary shaft portion, which is provided on the elongate member; a second rotation axis portion, which is provided on the treatment portion; a first roller guide portion which is provided on the elongate member and provided with arcuate portion having a center coaxial with the shaft portion at a first rotation; first two roller guide portion, the guide having a rolling portion, the rolling guide portion is provided on the treatment part and equipped with arc-shaped portion having a center shaft coaxial with the upper portion of the second rotation, the roller guide portion rolling contact with the first rolling guide portion; and a locking portion, which the first rotating shaft portion and said second rotary shaft portion in the locking state, said first coupling portion of the rotation shaft portion and between the second rotary shaft portion is detachable.
2.根据权利要求1所述的手术器具,其特征在于,所述卡定部具有: 主体部,其与所述第一转动轴部连接,并且能够与所述第二转动轴部卡合; 环状部件,其与所述主体部分体设置,将所述主体部和所述第二转动轴部捆扎;以及锁定部件,其用于切换所述环状部件被配置在将所述主体部和所述第二转动轴部捆扎的位置的捆扎状态、和所述环状部件被配置在从将所述主体部和所述第二转动轴部捆扎的位置偏离的位置的开放状态。 2. The surgical instrument according to claim 1, wherein the locking portion includes: a main body portion, which is connected to the first rotary shaft portion, and is engageable with the second rotary shaft portion card; an annular member, which body is provided with said body portion, said body portion and said second rotary shaft bundling portion; and a locking means for switching said annular member which is disposed in the main body portion and the second rotation shaft portion of the bundling position of the bundling state, and the annular member disposed in an open state is deviated from the main body portion and said second rotary shaft portion of the bundled position.
3.根据权利要求2所述的手术器具,其特征在于, 所述主体部具有槽,所述槽与所述环状部件卡合,规定所述环状部件的移动方向, 所述锁定部件具有所述槽的一部分,能够相对于所述主体部进行相对移动, 当设置在所述锁定部件上的槽和设置在所述主体部上的槽是连通状态时能够进行所述开放状态和所述捆扎状态的切换,当在所述捆扎状态下设置在所述锁定部件上的槽和设置在所述主体部上的槽是非连通状态时,所述处置部相对于所述长形部件被保持在所述捆扎状态。 3. The surgical instrument according to claim 2, wherein said body portion has a groove, said groove engaging with the annular member, a predetermined moving direction of the annular member, said locking member having the portion of the groove, relative to the main body portion for relative movement, when disposed in said groove and the locking member provided on the groove in the main body portion is capable of communicating state and the open state of the bundled state switching, when disposed in the groove and a non-communicating state grooves provided on the body member in the lock portion in a state the bundling, the treatment portion with respect to the elongate member is held in the bundled state.
4.根据权利要求2或3所述的手术器具,其特征在于,所述手术器具还具有: 能够进行动作的处置器具片,其设置在所述处置部上; 处置器具片动作用接合件,其连结所述长形部件和所述处置器具片;以及移动部件,其与所述处置器具片动作用接合件连结,用于操作所述处置器具片, 所述处置器具片动作用接合件具有: 动作用第一转动部件,其与所述移动部件连结并绕规定的转动中心转动; 动作用第二转动部件,其与所述动作用第一转动部件连结,使得该动作用第二转动部件以与所述第二转动轴部同轴或者与所述第二转动轴部相比离所述转动轴部更近的位置作为转动中心,与所述动作用第一转动部件反绕地进行相对旋转; 连结件,其将所述动作用第二转动部件的旋转力转换成所述处置器具片的动作, 所述处置器具片动作用接合件通过在所述连结部中 The surgical instrument of claim 2 or claim 3, wherein said surgical instrument further comprising: a treatment instrument can operate sheet, which is provided on the treatment portion; treatment instrument operation with the sheet engaging member, which couples the elongate member and the surgical instrument sheet; and a moving member, with the treatment instrument operation plate coupled with the engagement member for operating the treatment instrument sheets, the treatment instrument operation with sheet engaging member having : action center of rotation, and about which a predetermined link with the mobile member with rotation of the first rotatable member; operation with the second rotating member, which is linked to the operation of a first rotatable member, such that the operation of the second rotary member with coaxial with said second rotating shaft portion or the rotary shaft than the second portion of the rotation shaft portion from a position closer to a center of rotation for rewinding operation with said first rotatable member with opposed rotating; coupling member, which converts the rotating force of the operation member to the second rotating operation of the surgical instrument sheets, the operation of the treatment instrument sheet member by engagement with said coupling portion 的拆装,在所述动作用第一转动部件和所述动作用第二转动部件之间被拆装。 Disassembly, the attaching and detaching operation between the second rotating member with a first rotatable member and said operation.
5.根据权利要求4所述的手术器具,其特征在于, 具有一对所述处置器具片,所述处置器具片的动作是所述一对处置器具片的开闭。 5. The surgical instrument according to claim 4, wherein said treatment instrument having a pair of sheet, the operation of the treatment instrument opening and closing said sheet is one pair of treatment instrument sheets.
6.一种医疗用机械手,所述医疗用机械手具有: 权利要求1至5中任一项所述的手术器具; 从机械手,其安装有所述手术器具并具有至少I个关节; 主机械手,其发出用于驱动所述从机械手的所述关节的操作指令。 A medical manipulator, the medical manipulator having: 1-5 surgical instrument as claimed in any one of claim 1; slave manipulator, which is attached to the surgical instrument and having at least I joints; master manipulator, which issued from the operation instruction for driving the joints of the manipulator.
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